@inproceedings{9e58cda2775d425a96d978a925d7258b,
title = "Distance-based rigid formation control with signed area constraints",
abstract = "This paper discusses a formation control problem in which a target formation is defined with both distance and signed area constraints. The control objective is to drive spatially distributed agents to reach a unique target rigid formation shape (up to rotation and translation) with desired inter-agent distances. We define a new potential function by incorporating both distance terms and signed area terms and derive the formation system as a gradient system from the potential function. We start with a triangle formation system with detailed analysis on the equilibrium and convergence property with respect to a weighting gain parameter. We then examine the four-agent double-triangle formation and provide conditions to guarantee that both triangles converge to the desired side distances and signed areas.",
author = "Anderson, {Brian D.O.} and Zhiyong Sun and Toshiharu Sugie and Azuma, {Shun Ichi} and Kazunori Sakurama",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 56th IEEE Annual Conference on Decision and Control, CDC 2017 ; Conference date: 12-12-2017 Through 15-12-2017",
year = "2017",
month = jun,
day = "28",
doi = "10.1109/CDC.2017.8264071",
language = "English",
series = "2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2830--2835",
booktitle = "2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017",
address = "United States",
}